Beruflich Dokumente
Kultur Dokumente
From kinematics we can write the x and y positions of the CM of the ball. This will allow us to develop equations for the acceleration of the ball that we will use substitute into the force equations later.
X t = r t cos theta t
c
R sin
o
t X t = r t cos
c
R sin
o
t d t dt t
(1)
R cos
o
differentiate w.r.t. t
d dt
differentiate w.r.t. t
X t =
c
d dt rt
cos
r t sin
d t dt t
(2)
d2 dt2
r t t
cos d dt d2 dt2 t t
t
2
d r t dt t
sin d2 dt2
t t
d dt
t Ro sin t d dt
2
(3) t
r t sin
Y t = r t sin
c
R cos
o
Yc t = r t sin
differentiate w.r.t. t
Ro cos
d t dt t
t
R sin
o
(4)
d t dt t
d dt
differentiate w.r.t. t
Y t =
c
d dt rt
sin
r t cos
(5)
d2 r t dt2 t t
sin d dt d2 dt2 t t
t
2
d r t dt t
cos d2 dt2
t t
d dt
t Ro cos t d dt
2
(6) t
r t cos
From this point on we will switch from the global XY to the local xy reference frame that is parallel and perpendicular to the beam respectively. To rotate the accelerations and velocities into this ref. frame we need to use the following relationships: x''c = X''c cos y''c = Y''c cos Yc'' sin Xc'' sin
x'c = X'c cos y'c = Y'c cos The resulting simplified accelerations are:
d2 diff diff x t , t , t =
c
d rt rt dt 2 t
d2 R
o
dt2
dt2
d d2 x t = 2 r t 2 c dt dt
d diff diff y t , t , t = 2
c
r t
d dt
Ro
d2 dt2
(7)
d rt dt t rt
d2 dt2 t R
o
d dt t 2
dt
dt2
yc t = 2
d r t dt
d dt
r t
d dt2
Ro
d dt
(8)
d rt R
o
dt
dt
d d xc t = r t dt dt
diff y t , t = r t
c
Ro
d dt
(9)
d dt t
d y t =r t dt c
d dt
(10)
Now let us consider the free body force diagram of the ball and beam as seen below
We will start by summing the forces in the x and y direction and the moments about point C From Newton's Laws we know that
d2 F =m
x
dt2
x t
c
C diff r t , t
m g sin theta t
= m diff diff x t , t , t
c
Ff
y t dt2 c m g cos theta t
y
d r t dt
m g sin
=m
d xc t dt2
(11)
F =m
d2 N = m diff diff y t , t , t
c
N =m
d2 yc t dt2
(12)
d2
dt2
R F =J
o f
diff diff
d2 (13) t dt2 Now we can substitute the the values of (7) and (8) that we calculated earlier into (11) and (12), then solve for the unknowns in terms of r''(t) and ''(t) Ro Ff = Jb
d2 F
f isolate for F[f]
d2 r t dt2 Ro
d rt rt 2 dt t
d2 R
o
C diff r t , t
m g sin
=m
dt2
dt2
Ff = m
d2 r t dt2
r t
d dt
Ro
d2 dt2
d r t dt
m g sin
d m g cos
isolate for N
d rt dt t rt
d2 dt2 t R
o
d dt t
N=m 2
dt
N =m 2
d r t dt
d dt
r t
d dt2
Ro
d dt
m g cos
Substitute N into (13) and simplify to get the 1st governing equation
d2 d2 R
o
d rt 2 rt dt t
d2 R
o
d t 2 C dt 2 rt m g sin t =J
b
d2 dt2 t
dt2
dt2
dt2 R
rt
Ro m
r t
d dt d2 r t dt2 Ro
Ro
d dt2
d r t dt
m g sin
(14)
= Jb
move to left
Ro m
r t
d dt
Ro
d2 dt2
d r t dt
m g sin
(15)
Jb
simplify
d2 dt2 d2 dt
2
d2 r t dt2 Ro R2 m r t o Jb Ro d2 dt2
=0
2
1 R2 m o Ro
r t t
d dt t
t Jb
R3 m o d2 r t dt2
d2 dt
2
t =0
R2 C o
d r t dt
(16)
R2 m g sin o
tau
d2 dt
rt 2 d
= r t N
d2 t rt dt2
Ro C
d r t dt
d
2
(17)
d m g cos t R C
o
dt
dt
dt 2
rt
Ib
d dt2
= r t t
m 2 Ro C
d r t dt d r t dt d r t dt d r t dt
d dt
r t
d dt2
Ro
d dt
(18)
m g cos
move to left
Ib
d2 dt2
r t t
m 2 Ro C
d dt
t =0
r t
d2 dt2
Ro
d dt
m g cos
Using the fact that the total sum of the moments about the origin has to be equal to zero we get our second governing equation 1
R
o
R2 m
o
d2 dt2 rt t 2 rt
R2 m r t
o
d dt t rt t rt =0
R3 m
o
d2 dt2 d rt dt t d dt
R2 C
o
d dt rt d2
R2 m g sin
o
d2 t d J R
b o 2
dt2
d2 J
b
d2 Ib R C
o
dt2
dt2 d dt
m 2
rt
dt2
dt
m g cos
1 2 Ro m Ro R2 m g sin o
d r t dt2 t
2 Ro m r
t t
d dt
t Jb
3 Ro m
d dt2 Ib
t d2 dt2
Ro C t
d r t dt
(19)
Jb Ro
d2 dt2
d2 r t dt2
r t
m 2 t
d r t dt Ro C
3 Ro m
d dt
r t =0
d2 dt2
Ro
d dt
m g cos
simplify
d r t dt d dt2 t
2
1 Ro
2 Ro m
t Ro
2 Ro m g
sin
t d r t dt Ro = 0
Jb Ro d dt
d dt2 t
Jb r t
2
d2 dt2
2 r t m Ro t
expand
m Ro
r t m Ro g cos
Ro m Ib
d r t dt2 d2 dt2 t
2 Ro m
d dt2
t d r t dt
Ro m g sin d dt t
Jb mr t
2
d dt2 d2 dt2
Jb t t
d2 r t dt2 Ro r t m g cos t
2r t m
=0
2 J
b
m R2
o
d2 dt2 rt R mr t
o
d dt t
7 5
R2 m
o
d2 dt2 t R C
o
d dt rt
R m g sin
o
=0
Equation2
7 5 R m
o
d2 dt2
2
7 rt d2 dt2 t 5
R2 m
o
d2 dt2 t t
R m g sin
o
d2 t Ib dt2 t
2r t m
d dt rt
d dt t
mr t
r t m g cos
=0